from machine import Pin
from time import sleep_ms

# ==========================================
# FUNCIONES DE BOTONES
# ==========================================

def inicio(x):
    global motor_on
    motor_on = True

def paro(x):
    global motor_on, interrumpir_ciclo
    interrumpir_ciclo = False
    motor_on = False

    IN1.value(0)
    IN2.value(0)
    IN3.value(0)
    IN4.value(0)

def reversible(x):
    global direccion, interrumpir_ciclo
    
    if direccion == 0:
        direccion = 1
    else:
        direccion = 0
    
    led_rev.value(direccion)
    interrumpir_ciclo = True 

def cambiar_secuencia(x):
    global secuencias
    secuencia = (secuencia +1)%3

    actualizar_leds()

# ==========================================
# CONTROL MOTOR
# ==========================================

def mover(y):

    IN1.value(int(y[0]))
    IN2.value(int(y[1]))
    IN3.value(int(y[2]))
    IN4.value(int(y[3]))

# ==========================================
# LEDS DE SECUENCIA
# ==========================================

def actualizar_leds():

    led_normal.value(0)
    led_medio.value(0)

    # PASO NORMAL
    if secuencia == 0:
        led_normal.value(1)

    # PASO COMPLETO
    elif secuencia == 1:
        led_normal.value(1)
        led_medio.value(1)

    # MEDIO PASO
    elif secuencia == 2:
        led_medio.value(1)

# ==========================================
# MOTOR
# ==========================================

IN1 = Pin(19, Pin.OUT)
IN2 = Pin(21, Pin.OUT)
IN3 = Pin(22, Pin.OUT)
IN4 = Pin(23, Pin.OUT)

# ==========================================
# BOTONES
# ==========================================

btn_inicio = Pin(12, Pin.IN, Pin.PULL_UP)
btn_paro = Pin(13, Pin.IN, Pin.PULL_UP)
btn_rev = Pin(14, Pin.IN, Pin.PULL_UP)
btn_sec = Pin(27, Pin.IN, Pin.PULL_UP)

btn_inicio.irq(trigger=Pin.IRQ_FALLING, handler=inicio)
btn_paro.irq(trigger=Pin.IRQ_FALLING, handler=paro)
btn_rev.irq(trigger=Pin.IRQ_FALLING, handler=reversible)
btn_sec.irq(trigger=Pin.IRQ_FALLING, handler=cambiar_secuencia)

# ==========================================
# LEDS
# ==========================================

# Estado general
led_inicio = Pin(15, Pin.OUT)   # Inicio
led_paro = Pin(2, Pin.OUT)      # Paro
led_rev = Pin(4, Pin.OUT)       # Reversible

# Secuencias
led_normal = Pin(5, Pin.OUT)    # Paso normal
led_medio = Pin(18, Pin.OUT)    # Medio paso

# ==========================================
# SECUENCIAS DEL MOTOR
# ==========================================

# NORMAL (Wave Drive)
normal = [
    "1000",
    "0100",
    "0010",
    "0001"
]

# PASO COMPLETO
paso_completo = [
    "1100",
    "0110",
    "0011",
    "1001"
]

# MEDIO PASO
medio_paso = [
    "1000",
    "1100",
    "0100",
    "0110",
    "0010",
    "0011",
    "0001",
    "1001"
]

# ==========================================
# VARIABLES
# ==========================================

motor_on = False
direccion = 0
secuencia = 0
interrumpir_ciclo = False

led_rev.value(0)
actualizar_leds()

# ==========================================
# PROGRAMA PRINCIPAL
# ==========================================

while True:
    if motor_on:
        led_inicio.value(1)
        led_paro.value(0)
        actualizar_leds()
        
        # Selección de secuencia
        if secuencia == 0:
            tabla = normal
        elif secuencia == 1:
            tabla = paso_completo
        else:
            tabla = medio_paso
        
        # Dirección
        pasos = tabla if direccion == 0 else tabla[::-1]
        
        # Movimiento
        for patron in pasos:
            if not motor_on or interrumpir_ciclo:
                interrumpir_ciclo = False  # Resetear bandera
                break
            
            mover(patron)
            sleep_ms(15)
        
        # Pequeña pausa entre ciclos
        sleep_ms(1)
    
    else:
        led_inicio.value(0)
        led_paro.value(1)
        led_normal.value(0)
        led_medio.value(0)
        
        IN1.value(0)
        IN2.value(0)
        IN3.value(0)
        IN4.value(0)
        
        sleep_ms(50)